CN112318523A - Self-disinfecting intelligent epidemic prevention robot - Google Patents
Self-disinfecting intelligent epidemic prevention robot Download PDFInfo
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- CN112318523A CN112318523A CN202011170569.4A CN202011170569A CN112318523A CN 112318523 A CN112318523 A CN 112318523A CN 202011170569 A CN202011170569 A CN 202011170569A CN 112318523 A CN112318523 A CN 112318523A
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- mechanical arm
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- disinfectant
- disinfection
- module
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- 230000002265 prevention Effects 0.000 title claims abstract description 29
- 239000000645 desinfectant Substances 0.000 claims abstract description 60
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 55
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 25
- 238000010438 heat treatment Methods 0.000 claims abstract description 13
- 230000008685 targeting Effects 0.000 claims abstract description 12
- 210000000707 wrist Anatomy 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000001954 sterilising effect Effects 0.000 claims description 6
- 230000002421 anti-septic effect Effects 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims 1
- 239000007788 liquid Substances 0.000 abstract description 13
- 238000009792 diffusion process Methods 0.000 abstract description 5
- 239000002245 particle Substances 0.000 abstract description 5
- 238000005507 spraying Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000007670 refining Methods 0.000 abstract 1
- 238000000889 atomisation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001704 evaporation Methods 0.000 description 2
- 230000008020 evaporation Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009688 liquid atomisation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
A self-disinfecting intelligent epidemic prevention robot belongs to the field of intelligent robot manufacturing, and comprises a wheel type moving module, a targeting disinfection module and a robot main body module, the structure is novel, the wheel type moving module is used for supporting the robot main body module and driving the whole robot to move in all directions, a servo motor is used for providing driving force for the whole mechanical arm, a disinfectant atomizing device is used for atomizing and spraying disinfectant, a fan is used for accelerating the diffusion of disinfection liquid particles in a specified area, and therefore the purposes of refining and dead-angle-free disinfection are achieved; the robot has the advantages that the centrifugal water pump is used for providing disinfectant for the disinfectant atomizing device, the heating coil is used for heating the inside of the robot, the camera collects disinfection area information, the target disinfection module is stretched out, the target disinfection module is disinfected, secondary pollution is avoided, the working principle of the robot is clear, the problems that the traditional robot for disinfection and epidemic prevention has dead angles in disinfection, secondary pollution exists and the like are solved, and the reliability of disinfection and epidemic prevention is improved.
Description
Technical Field
The invention belongs to the field of intelligent robot manufacturing, relates to a disinfection and epidemic prevention robot, and particularly relates to an intelligent epidemic prevention robot for self disinfection.
Background
In the disinfection and epidemic prevention process, the robot is also a middle propagator, and how to prevent the robot from becoming a propagation source is also a problem to be considered. Therefore, how to perform autonomous identification and disinfection becomes the main research direction. Most of the robots for disinfection and epidemic prevention at present have the defects of dead angles in disinfection, secondary pollution and the like, and can not meet the current market demand. Therefore, it is necessary to design a self-disinfecting intelligent epidemic prevention robot to meet the requirements of disinfection and epidemic prevention in large-scale public places.
Disclosure of Invention
The invention aims to provide a self-disinfecting intelligent epidemic prevention robot aiming at the defects of dead corners, secondary pollution, high epidemic prevention cost, incapability of solving complex problems and the like in the disinfection and epidemic prevention by using a robot at present.
The technical scheme of the invention is as follows: the utility model provides a from sterile intelligent epidemic prevention robot which characterized in that: the self-disinfecting intelligent epidemic prevention robot is composed of a wheel type moving module, a targeting disinfection module and a robot main body module.
The wheel type moving module consists of an AGV trolley body, a control panel, a contact type safety ring, a trolley storage battery and AGV trolley wheels; the storage battery of the AGV trolley is arranged inside the AGV trolley body, wheels of the AGV trolley are connected and fixed on a chassis of the AGV trolley body, and the contact type safety ring is fixedly arranged at the front end of the AGV trolley body.
The targeted disinfection module consists of a mechanical arm support, a first servo motor, a ball, a circular flange plate, a mechanical arm shoulder, a double-head motor, a deep groove ball bearing, a mechanical arm elbow, a second servo motor, a mechanical arm wrist, a third servo motor, a mechanical arm hand, a first fan, a first disinfectant atomizing device, a disinfectant pipeline and a flow controller; the first servo motor is fixedly connected in the mechanical arm support, the ball is arranged between a circular flange plate, the mechanical arm support and a flange plate at the bottom end of the mechanical arm shoulder, the circular flange plate is fixedly connected with the mechanical arm support, the double-end motor is fixedly connected in the mechanical arm shoulder, the deep groove ball bearing is arranged on a bearing seat of the mechanical arm elbow, the mechanical arm elbow is hinged with the mechanical arm shoulder, the second servo motor is fixedly connected inside a rotary joint of the mechanical arm elbow, the mechanical arm elbow is hinged with the mechanical arm wrist, the third servo motor is fixedly connected in the mechanical arm wrist, the mechanical arm wrist is hinged with the mechanical arm hand, the first fan is fixedly connected in the mechanical arm hand, the first disinfectant atomizing device is fixedly connected at the front end of the mechanical arm hand, the mechanical arm is characterized in that a sliding seat is arranged on the mechanical arm hand, and the flow controller is fixedly arranged on the sliding seat of the mechanical arm hand.
The robot main body module consists of a robot body, a power supply, a disinfectant storage box, a first centrifugal water pump, a second centrifugal water pump, a first disinfectant transmission pipeline, a second disinfectant transmission pipeline, a heating coil, an article storage platform, a mechanical arm support connecting base, a second disinfectant atomizing device, a sliding door, a robot main body shell, a power supply charging interface, a second fan, a robot head shell and a camera; the power supply is arranged in the robot body, the first centrifugal water suction pump and the second centrifugal water suction pump are installed on the disinfectant storage tank through flange connection, the first disinfectant transmission pipeline is fixed on the first centrifugal water suction pump through flange connection, the second disinfectant transmission pipeline is fixed on the second centrifugal water suction pump through flange connection, the heating coil is wound and fixed outside the robot body, the second disinfectant atomization device is fixed on the robot body through screws, the sliding door is arranged on a door sliding track inside the robot body, the robot body shell is connected and fixed on a base of the robot body, the power charging interface is fixedly installed on the robot body shell, the second fan is connected and fixed on the robot head shell, the camera is fixedly arranged on the robot head shell, and the robot head shell is fixedly connected to the robot main body shell.
The targeted disinfection module is used for installing the mechanical arm support on the mechanical arm support connecting base through bolts.
The top of the mechanical arm support and the bottom of the circular flange plate clamp the shoulder of the mechanical arm through balls, and the shoulder of the mechanical arm can rotate relative to the mechanical arm support and the circular flange plate.
The mechanical arm shoulder part is driven by the first servo motor to rotate, the double-head motor drives the mechanical arm elbow to rotate, the second servo motor drives the mechanical arm wrist part to rotate, and the third servo motor drives the mechanical arm hand part to rotate, so that the function of the whole mechanical arm for directionally sterilizing the target is realized.
Robot main part module passes through robot body base flange joint to be fixed on AGV dolly body.
The invention has the beneficial effects that: the device is composed of the wheel type mobile platform module, the target disinfection module and the robot main body module, is novel in structure, compact in structure and clear in working principle, supports are provided for the robot main body module by the wheel type mobile module, and meanwhile the whole robot main body module and the target disinfection module are driven to move in all directions; a first servo motor, a double-head motor, a second servo motor and a third servo motor are used for providing driving force for the whole mechanical arm; the first disinfectant atomizing device is used for atomizing and spraying disinfectant, and the first fan is used for accelerating the diffusion of disinfectant liquid particles in a specified area, so that the purposes of refinement and dead-angle-free disinfection are achieved; providing disinfectant for the first disinfectant atomizing device and the second disinfectant atomizing device by utilizing the first centrifugal water pump and the second centrifugal water pump; the second disinfectant atomizing device is used for atomizing and spraying disinfectant, and the second fan is used for accelerating the diffusion of disinfection liquid particles in the robot, so that the disinfection of the mechanical arm and deposited articles after the mechanical arm is stored is finished; the heating coil is used for heating the interior of the robot, so that the effect of promoting the evaporation of the disinfectant can be achieved, and the drying of the internal environment is ensured; utilize wheeled mobile module to drive the robot motion to appointed disinfection region, the camera gathers disinfection regional information, stretches out targeting disinfection module, treats the disinfection region and disinfects, and the disinfection finishes the back targeting disinfection module and withdraws inside the robot main part module to disinfect the targeting disinfection module, avoid secondary pollution, whole device work is high-efficient, safe and reliable. The invention makes up the problems of dead sterilization angle, secondary pollution and the like of the traditional robot for sterilization and epidemic prevention, and improves the reliability of sterilization and epidemic prevention.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of a wheeled mobile platform module according to the present invention.
FIG. 3 is a schematic view of the structure of the targeted sterilization in the present invention.
Fig. 4 is a schematic structural diagram of a main body module of the robot of the present invention.
In the figure: wheel type mobile platform module 100, AGV trolley body 101, operation panel and control button 102, contact type safety ring 103, trolley storage battery 104, AGV trolley wheel 105, targeting disinfection module 200, mechanical arm support 201, first servo motor 202, ball 203, circular flange 204, mechanical arm shoulder 205, double-end motor 206, deep groove ball bearing 207, mechanical arm elbow 208, second servo motor 209, mechanical arm wrist 210, third servo motor 211, mechanical arm hand 212, first fan 213, first disinfectant atomizing device 214, disinfectant pipeline 215, flow controller 216, robot main body module 300, robot body 301, power supply 302, disinfectant storage tank 303, first centrifugal water pump 304, second centrifugal water pump 305, first disinfectant transmission pipeline 306, second disinfectant transmission pipeline 307, heating coil 308, article registering platform 309, mechanical arm support connecting base 310, disinfection solution storage tank 303, The second disinfectant atomizing device 311, the sliding door 312, the robot main body casing 313, the power charging interface 314, the second fan 315, the robot head casing 316 and the camera 317.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, the intelligent epidemic prevention robot for self disinfection comprises a wheel type mobile platform module 100, a targeting disinfection module 200 and a robot main body module 300.
As shown in fig. 2, a self-disinfecting intelligent epidemic prevention robot, a wheel type mobile module 100 is composed of an AGV trolley body 101, an operation panel and control button 102, a contact type safety ring 103, a trolley storage battery 104 and AGV trolley wheels; the AGV trolley comprises a trolley storage battery 104, AGV trolley wheels 105 and a contact type safety ring 103, wherein the trolley storage battery 104 is installed on the AGV trolley body 101, the AGV trolley wheels 105 are installed on the AGV trolley body 101, and the contact type safety ring 103 is installed on the AGV trolley body 101.
As shown in fig. 3, a self-disinfecting intelligent epidemic prevention robot, a targeting disinfection module 200 is composed of a robot arm support 201, a first servo motor 202, a ball 203, a circular flange 204, a robot arm shoulder 205, a double-head motor 206, a deep groove ball bearing 207, a robot arm elbow 208, a second servo motor 209, a robot arm wrist 210, a third servo motor 211, a robot arm hand 212, a first fan 213, a first disinfectant atomizing device 214, a disinfectant pipeline 215, and a flow controller 216; a first servo motor 202 is installed on the mechanical arm support 201, balls 203 are installed among a circular flange 204, a mechanical arm support 201 and a flange at the bottom end of a mechanical arm shoulder 205, the circular flange 204 is installed on the mechanical arm support 201, a double-end motor 206 is installed on the mechanical arm shoulder 205, a deep groove ball bearing 207 is installed on an elbow 208 of the mechanical arm, the elbow 208 of the mechanical arm is installed on the mechanical arm shoulder 205, a second servo motor 209 is installed on the elbow 208 of the mechanical arm, the elbow 208 of the mechanical arm is installed on a wrist 210 of the mechanical arm, a third servo motor 211 is installed on the wrist 210 of the mechanical arm, the wrist 210 of the mechanical arm is installed on the hand 212 of the mechanical arm, a first fan 213 is installed on the hand 212 of the mechanical arm, a first disinfectant atomizing device; the rotor of first servo motor 202 forms the key-type connection with the keyway at arm shoulder, the rotor of double-end motor 206 forms the key-type connection with the keyway of arm elbow 208, the rotor of second servo motor 209 forms the key-type connection with the keyway of arm wrist 210, the rotor of third servo motor 211 forms the key-type connection with the keyway of arm hand 212, drive the arm and accomplish the motion that turns to of multi-angle, distribute at the outside antiseptic solution pipeline 215 of arm and be the software material, can rotate at random the arm.
As shown in fig. 4, a self-disinfecting intelligent epidemic prevention robot, a robot main body module 300 is composed of a robot main body 301, a power supply 302, a disinfectant storage tank 303, a first centrifugal water pump 304, a second centrifugal water pump 305, a first disinfectant transmission pipeline 306, a second disinfectant transmission pipeline 307, a heating coil 308, an article storage platform 309, a mechanical arm support connection base 310, a second disinfectant atomization device 311, a sliding door 312, a robot main body housing 313, a power supply charging interface 314, a second fan 315, a robot head housing 316 and a camera 317; the power supply 302 is installed on the robot body 301, the first centrifugal water pump 304 and the second centrifugal water pump 305 are installed on the toxic liquid storage tank 303, the first disinfectant liquid transmission pipeline 306 is installed on the first centrifugal water pump 304, the second disinfectant liquid transmission pipeline 307 is installed on the second centrifugal water pump 305, the heating coil 308 is wound on the robot body 301, the second disinfectant liquid atomizing device 311 is installed on the robot body 301, the sliding door 312 is installed on the robot body 301, the robot body shell 313 is installed on the robot body 301, the power supply charging interface 314 is installed on the robot body shell 313, the second fan 315 is installed on the robot head shell 316, the camera is installed on the robot head shell 316, and the robot head shell is installed on the robot body shell 313; the axes of the first disinfectant liquid delivery pipe 306 and the second disinfectant liquid delivery pipe 307 are parallel to each other, and the first disinfectant liquid delivery pipe 306 is connected with the liquid delivery pipe on the second disinfectant liquid atomization device 311.
As shown in fig. 1-4, the working principle of a self-disinfecting intelligent epidemic prevention robot is as follows: the wheel type mobile module is used for supporting the robot main body module and driving the whole robot main body module and the targeted disinfection module to move in all directions; a first servo motor, a double-head motor, a second servo motor and a third servo motor are used for providing driving force for the whole mechanical arm; the first disinfectant atomizing device is used for atomizing and spraying disinfectant, and the first fan is used for accelerating the diffusion of disinfectant liquid particles in a specified area, so that the purposes of refinement and dead-angle-free disinfection are achieved; the first centrifugal water pump and the second centrifugal water pump are used for providing disinfectant for the first disinfectant atomizing device and the second disinfectant atomizing device, the second disinfectant atomizing device is used for atomizing and spraying out the disinfectant, the second fan is used for accelerating the diffusion of disinfection liquid particles in the robot, so that the disinfection of the mechanical arm and deposited articles after the mechanical arm is stored is completed, the heating coil is used for heating the inside of the robot, the effect of promoting the evaporation of the disinfectant can be achieved, and the drying of the internal environment is guaranteed; utilize wheeled mobile module to drive the robot motion to appointed disinfection region, the camera gathers disinfection regional information, stretches out targeting disinfection module, treats the disinfection region and disinfects, and the disinfection finishes the back targeting disinfection module and withdraws inside the robot main part module to disinfect the targeting disinfection module, avoid secondary pollution, whole device work is high-efficient, safe and reliable.
Claims (5)
1. The utility model provides a from sterile intelligent epidemic prevention robot which characterized in that: the self-disinfecting intelligent epidemic prevention robot consists of a wheel type mobile module (100), a targeting disinfection module (200) and a robot main body module (300);
the wheel type moving module (100) consists of an AGV trolley body (101), a control panel (102), a contact type safety ring (103), a trolley storage battery (104) and AGV trolley wheels (105); the AGV trolley comprises an AGV trolley body (101), a trolley storage battery (104), trolley wheels (105), a contact type safety ring (103), a safety protection circuit and a safety protection circuit, wherein the AGV trolley body (101) is arranged in the AGV trolley body (104), the trolley wheels (105) are fixedly connected to a chassis of the AGV trolley body (101), and the contact type safety ring (103) is fixedly arranged at the front end of the AGV trolley body (101);
the targeted disinfection module (200) consists of a mechanical arm support (201), a first servo motor (202), a ball (203), a circular flange plate (204), a mechanical arm shoulder (205), a double-head motor (206), a deep groove ball bearing (207), a mechanical arm elbow (208), a second servo motor (209), a mechanical arm wrist (210), a third servo motor (211), a mechanical arm hand (212), a first fan (213), a first disinfectant atomizing device (214), a disinfectant pipeline (215) and a flow controller (216); the first servo motor (202) is fixedly connected in the mechanical arm support (201), the ball (203) is arranged between a circular flange plate (204), the mechanical arm support (201) and a bottom end flange plate of the mechanical arm shoulder (205), the circular flange plate (204) is fixedly connected with the mechanical arm support (201), the double-head motor (206) is fixedly connected in the mechanical arm shoulder (205), the deep groove ball bearing (207) is installed on a bearing seat of the mechanical arm elbow (208), the mechanical arm elbow (208) is hinged with the mechanical arm shoulder (205), the second servo motor (209) is fixedly connected inside a rotary joint of the mechanical arm elbow (208), the mechanical arm elbow (208) is hinged with the mechanical arm wrist (210), and the third servo motor (211) is fixedly connected in the mechanical arm (210), the mechanical arm wrist part (210) is hinged with the mechanical arm hand part (212), the first fan (213) is fixedly connected in the mechanical arm hand part (212), the first disinfectant atomizing device (214) is arranged at the front end of the mechanical arm hand part (212) in a connecting manner, a sliding seat is arranged on the mechanical arm hand part (212), and the flow controller (216) is fixedly arranged on the sliding seat of the mechanical arm hand part (212);
the robot main body module (300) is composed of a robot body (301), a power supply (302), a disinfectant storage tank (303), a first centrifugal water pump (304), a second centrifugal water pump (305), a first disinfectant transmission pipeline (306), a second disinfectant transmission pipeline (307), a heating coil (308), an article storage platform (309), a mechanical arm support connecting base (310), a second disinfectant atomizing device (311), a sliding door (312), a robot main body shell (313), a power supply charging interface (314), a second fan (315), a robot head shell (316) and a camera (317); the power (302) sets up in robot fuselage (301), first centrifugal water pump (304) with second centrifugal water pump (305) are installed through flange joint on antiseptic solution storage box (303), first antiseptic solution transmission pipeline (306) are fixed through flange joint on first centrifugal water pump (304), second antiseptic solution transmission pipeline (307) are fixed through flange joint on second centrifugal water pump (305), heating coil (308) winding is fixed robot fuselage (301) outside, second antiseptic solution atomizing device (311) pass through the fix with screw on robot fuselage (301), move door (312) and set up on the inside door track that moves of robot fuselage (301), robot main body cover (313) are connected and are fixed on the base of robot fuselage (301), the power supply charging interface (314) is fixedly installed on the robot main body shell (313), the second fan (315) is fixedly connected to the robot head shell (316), the camera (317) is fixedly arranged on the robot head shell (316), and the robot head shell (316) is fixedly connected to the robot main body shell (313).
2. The self-disinfecting intelligent epidemic prevention robot of claim 1, wherein: the targeted disinfection module (200) is characterized in that the mechanical arm support (201) is installed on the mechanical arm support connecting base (310) through bolts.
3. The self-disinfecting intelligent epidemic prevention robot of claim 1, wherein: the top of the mechanical arm support (201) and the bottom of the circular flange plate (204) clamp a mechanical arm shoulder (205) through a ball (203), and the mechanical arm shoulder (205) can rotate relative to the mechanical arm support (201) and the circular flange plate (204).
4. The self-disinfecting intelligent epidemic prevention robot of claim 1, wherein: the mechanical arm shoulder (205) is driven by a first servo motor (202) to complete rotation, a double-head motor (206) drives the mechanical arm elbow (208) to rotate, a second servo motor (209) drives the mechanical arm wrist (210) to rotate, and a third servo motor (211) drives the mechanical arm hand (212) to rotate, so that the function of the whole mechanical arm for sterilizing the target in a targeted direction is realized.
5. The self-disinfecting intelligent epidemic prevention robot of claim 1, wherein: the robot main body module (300) is fixed on an AGV trolley body (101) through a robot body (301) and a base flange connection.
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| CN202011170569.4A CN112318523B (en) | 2020-10-28 | 2020-10-28 | Self-sterilizing intelligent epidemic prevention robot |
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| CN202011170569.4A CN112318523B (en) | 2020-10-28 | 2020-10-28 | Self-sterilizing intelligent epidemic prevention robot |
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| CN112318523B CN112318523B (en) | 2023-12-22 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112869878A (en) * | 2021-02-26 | 2021-06-01 | 北京信达五域科技有限公司 | Mechanical arm for medical operation |
| CN113172642A (en) * | 2021-04-22 | 2021-07-27 | 刘明 | Disinfection robot |
| CN113318249A (en) * | 2021-06-09 | 2021-08-31 | 宁波八益集团有限公司 | Intelligent disinfection robot disinfection master controller and disinfection control method thereof |
| CN113401346A (en) * | 2021-06-21 | 2021-09-17 | 广州阿佩斯康生物科技有限公司 | Unmanned aerial vehicle space spraying system |
| CN113509577A (en) * | 2021-05-19 | 2021-10-19 | 长江师范学院 | Arm for disinfection and special trolley for environmental disinfection |
| CN113577343A (en) * | 2021-07-15 | 2021-11-02 | 哈尔滨工程大学 | Disinfection robot with under-actuated self-cleaning function |
| CN114832132A (en) * | 2021-05-07 | 2022-08-02 | 北京福乐云数据科技有限公司 | Active fog ion sterilizing robot |
| CN114949301A (en) * | 2022-04-26 | 2022-08-30 | 湖北文理学院 | Disinfection epidemic prevention robot |
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| CN113401346A (en) * | 2021-06-21 | 2021-09-17 | 广州阿佩斯康生物科技有限公司 | Unmanned aerial vehicle space spraying system |
| CN113577343A (en) * | 2021-07-15 | 2021-11-02 | 哈尔滨工程大学 | Disinfection robot with under-actuated self-cleaning function |
| CN114949301A (en) * | 2022-04-26 | 2022-08-30 | 湖北文理学院 | Disinfection epidemic prevention robot |
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